surf_detector.h

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#ifndef RGBDTOOLS_SURF_DETECTOR_H
#define RGBDTOOLS_SURF_DETECTOR_H

#include <opencv2/core/core.hpp>
#include <opencv2/nonfree/features2d.hpp>

#include "rgbdtools/features/feature_detector.h"

namespace rgbdtools {

class SurfDetector: public FeatureDetector
{
  public:

    SurfDetector();
        
    ~SurfDetector();

    void findFeatures(RGBDFrame& frame, const cv::Mat& input_img);

    void setThreshold(double threshold);
    
  private:

    double threshold_;    

    boost::shared_ptr<cv::SurfFeatureDetector> surf_detector_;     
    
    cv::SurfDescriptorExtractor surf_descriptor_; 
};

typedef boost::shared_ptr<SurfDetector> SurfDetectorPtr;

} // namespace rgbdtools

#endif // RGBDTOOLS_SURF_DETECTOR_H